Cristiano Ronaldo converted an injury-time penalty to keep Juventus from pulling off another stunning comeback in the quarterfinals of the Champions League as Read Madrid advanced despite a 3-1 home loss on Wednesday.
Madrid join Bayern Munich, Roma and Liverpool in the Champions League last four.
Real Madrid hit back on the 10th minute.
Navas parried Douglas Costa's cross-shot and the Costa Rica global made a vital save from Gonzalo Higuain on the rebound as Juve maintained their high-tempo start.
But Vazquez was insistent that English official Oliver made the right call.
Yet that switch made little difference, and Blaise Matuidi made the most of a mistake from Keylor Navas to dramatically level the scores at 3-3.
The Italian giant came agonizingly close to overturning Real Madrid's three-goal first leg lead in the Spanish capital, but instead went down to a late penalty.
Cristiano Ronaldo interrupted Gianluigi Buffon's interview to hug the Juventus legend.
Cristiano Ronaldo scores injury-time penalty as Real Madrid break Juventus hearts
Isco drove towards the bottom corner but Buffon's hand was there and the game looked to be drifting towards extra-time until the 93rd minute.
Mandzukic then bundled into the arms of Navas from close range as chances continued to arrive at either end.
Real Madrid started the second half looking to put some pressure on Juventus. "If they didn't make the foul, Lucas would score the goal". He did. No doubt that Vazquez sold it, and that the Spaniard went down far too easily.
Raphael Varane thudded a header against the crossbar from Toni Kroos' free-kick, but Madrid were reeling when the half-time whistle arrived. Substitutes: Lucas Vasquez (for Casemiro, 45) 6, Marco Asensio (for Bale, 45) 6, Mateo Kovacic (for Modric, 75) 6. He sent a pass to the flag, finding midfielder Sami Khedira.
Italy's most-capped worldwide Buffon, who is much respected throughout the game, let his emotions overcome him at the end and was dismissed on his 650th appearance for Juve. Ronaldo, having waited five minutes for calm to be restored before taking his penalty, displayed the cold-blooded instinct of a matador by converting from the spot.
During an interview with Premium Sport, Juventus coach Massimiliano Allegri discussed Michael Oliver's decision to award Real Madrid a last-minute penalty during tonight's UEFA Champions League quarter-final match.
But Ronaldo came up trumps again, scoring in his 11th consecutive fixture in this competition, extending his own record, and keeping Real on course for a third consecutive European triumph.